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Abstract

This work is concerned with synthesizing safety controllers for discrete-time nonlinear systems beyond polynomials with unknown mathematical models using the notion of k-inductive control barrier certificates (k-CBCs). Conventional CBC conditions (with k=1) for ensuring safety over dynamical systems are often restrictive, as they require the CBCs to be non-increasing at every time step. Inspired by the success of k-induction in software verification, k-CBCs relax this requirement by allowing the barrier function to be non-increasing over k steps, while permitting k-1 (one-step) increases, each up to a threshold epsilon. This relaxation enhances the likelihood of finding feasible k-CBCs while providing safety guarantees across the dynamical systems. Despite showing promise, existing approaches for constructing k-CBCs often rely on precise mathematical knowledge of system dynamics, which is frequently unavailable in practical scenarios. In this work, we address the case where the underlying dynamics are unknown, a common occurrence in real-world applications, and employ the concept of persistency of excitation, grounded in Willems et al.'s fundamental lemma. This result implies that input-output data from a single trajectory can capture the behavior of an unknown system, provided the collected data fulfills a specific rank condition. We employ sum-of-squares (SOS) programming to synthesize the k-CBC as well as the safety controller directly from data while ensuring the safe behavior of the unknown system. The efficacy of our approach is demonstrated through a set of physical benchmarks with unknown dynamics, including a DC motor, an RLC circuit, a nonlinear nonpolynomial car, and a nonlinear polynomial Lorenz attractor.

Details

1009240
Identifier / keyword
Title
Learning k-Inductive Control Barrier Certificates for Unknown Nonlinear Dynamics Beyond Polynomials
Publication title
arXiv.org; Ithaca
Publication year
2024
Publication date
Dec 10, 2024
Section
Computer Science; Electrical Engineering and Systems Science
Publisher
Cornell University Library, arXiv.org
Source
arXiv.org
Place of publication
Ithaca
Country of publication
United States
University/institution
Cornell University Library arXiv.org
e-ISSN
2331-8422
Source type
Working Paper
Language of publication
English
Document type
Working Paper
Publication history
 
 
Online publication date
2024-12-11
Milestone dates
2024-12-10 (Submission v1)
Publication history
 
 
   First posting date
11 Dec 2024
ProQuest document ID
3143055689
Document URL
https://www.proquest.com/working-papers/learning-k-inductive-control-barrier-certificates/docview/3143055689/se-2?accountid=208611
Full text outside of ProQuest
Copyright
© 2024. This work is published under http://arxiv.org/licenses/nonexclusive-distrib/1.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.
Last updated
2024-12-12
Database
2 databases
  • ProQuest One Academic
  • ProQuest One Academic